Abstract: Proposed in this paper is a paradigm for the qualitative synthesis of simple kinematic chains that is based on the concept of complexity. Qualitative synthesis is understood here as the number ...

Abstract: The design of a robotic manipulator begins with the dimensioning of its various links to meet performance specifications. However, a methodology for the determination of the manipulator architecture, ...

Abstract: We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is ...